20 #ifndef KNIKatanaKinematics6M90T_H 21 #define KNIKatanaKinematics6M90T_H 91 bool PositionTest6MS(
const double& theta1,
const double& theta2,
const double& theta3,
const double& theta234,
const position &p)
const;
std::vector< double > angles
Being used to store angles (in radian).
void _setLength(metrics const &length)
std::vector< angles_calc > angles_container
std::vector< KinematicParameters > parameter_container
The base class for all kinematic implementations.
void _setParameters(parameter_container const ¶meters)
static const int _nrOfPossibleSolutions
parameter_container _parameters
FloatVector FloatVector * a
double findFirstEqualAngle(double cosValue, double sinValue, double tolerance)
std::vector< double > coordinates
To store coordinates.
std::vector< int > encoders
To store encoders.
static const double _tolerance
std::vector< double > metrics
To store metrics, 'aka' the length's of the different segments of the robot.